摘要摘要文章综述了机器人近几十年来的发展状况及有关的问题，并对圆柱坐标系机器人进行了结构方面的设计。对在圆柱坐标系机器人设计的过程中所遇到的问题进行了初步的研究和分析：对其结构选型、设计计算作了定量的研究；对其定位、精度确定等问题进行了初步研究；对其发展历史、现状及其未来的发展趋势做了一定程度的分析和探讨。本测量机结构为通过两根丝杠轴在电机的带动下转动，实现Y，Z轴的移动，通过电机带动谐波齿轮，实现Z轴的转动，进而使机械手有三个自由度。圆柱坐标系机器人已广泛应用于工业生产的各个领域，关键词：圆柱形机器人，误差，精度，伺服电机-I-ABSTRACTABSTRACTThispaperreviewedthedevelopmentofrobotsinrecentdecadesthesituationandrelatedissues,andcylindricalcoordinatesystemforthestructureoftherobotdesign.Cylindricalcoordinatesystemintheprocessofrobotdesignissuesencounteredinthepreliminaryresearchandanalysis:Selectionofitsstructure,designandcalculationofquantitativeresearch;itspositiononissuessuchasaccuracytodetermineapreliminarystudy;theirdevelopmenthistory,currentsituationandfuturedevelopmenttrendofdoingacertaindegreeofanalysisanddiscussion.Structureofthemeasuringmachinescrewthroughthetwo-axismotordriveninrotation,therealizationofY,Zaxismovement,throughtheharmonicgeardrivemotor,therealizationofZ-axisofrotation,sothattherearethreedegreesoffreedommanipulator.Cylindricalcoordinatesystemtherobothasbeenwidelyusedinvariousfieldsofindustrialproduction,Keywords:cylindricalrobot,error,precision,servomotor-II-目录目录第1章绪论................................................11.1机器人工业发展史.............................................11.2工业机器人的定义............................................11.3机器人的结构................................................11.4机器人的几何模型............................................21.5机器人的主要技术参数........................................31.6工业机器人的分类............................................3第2章工业机器人结构总体设计.......................................52.1确定机器人类型..............................................52.2机器人基座.................................................52.3谐波齿轮传动...............................................52.3.1谐波齿轮构成..........................................62.3.2谐波齿轮特点..........................................62.3.3谐波齿轮传动的工作原理................................62.4丝杠.......................................................72.5伺服电机...................................................72.3.3伺服电机类型选择......................................72.3.3交流伺服电机工作原理..................................82.3.3交流伺服电机控制方法..................................8第3章结构强度分析与计算...........................................103.1Y轴设计.............................................................103.1.1滚珠丝杠副的选择和计算...............................103.1.2丝杆校验.............................................123.1.3伺服电机的选择.......................................14-III-目录3.1.4轴承的选择...........................................173.2Z轴设计....................................................183.2.1滚珠丝杠副的选择和计算................................183.2.2丝杆校验..............................................213.2.3伺服电机的选择........................................243.2.4轴承的选择............................................273.3谐波齿轮的选择和计算.................
